System and method for self contained through sensor for determining an actuation position for a machine

ABSTRACT

A self-contained hand-held through-skin (HHTS) sensor for determining the location of an underlying aperture in a support structure suited to mount a skin or surface. In an embodiment, the HHTS sensor includes a sensor disposed in a housing and configured to determine a location of an aperture disposed in an adjacent surface through electromagnetic, x-ray, ultrasonic or other means. The HHTS sensor further includes an alignment assembly having an alignment orifice disposed in the housing and configured to be maneuvered in an x-y plane within the housing. The HHTS sensor also includes a vacuum pump system, a local battery and a processor coupled to the sensor and configured to control first and second actuators to maneuver the alignment orifice within the x-y plane to be co-axially located with the aperture in response to the sensor signal.

RELATED APPLICATION DATA

The present application is related to U.S. patent application Ser. No.16/275,864, entitled System and Method for Automated Aperture Alignmentin Response to Detecting an Object filed Feb. 14, 2019 and U.S. patentapplication Ser. No. 16/275,919, entitled System and Method forAutomation of Sensing and Machine Actuation in a ManufacturingEnvironment filed Feb. 14, 2019.

BACKGROUND

As manufacturing environments become more automated and complex,robotics and other automated machinery is becoming more and moreprevalent in all phases of manufacturing. Very specific tasks that areconventionally performed by a skilled artisan may be performed usinghighly specialized robotics having highly specialized tools and/or endeffectors. For example, drilling holes in composite sections of acontoured section of an airplane wing or car body may require a highlevel of precision with respect to applying torque to a motor for movingthe end effector around a contoured wing surface such that a drill holeis drilled precisely over a receiving hole of an underlying structure.

In conventional manufacturing environments, a worker may have used aconventional through-skin sensor to detect an underlying target or hole(wherein a “skin” may refer to a surface structure or body panel of acar body or airplane body). As such, the worker may manually maneuver ahand-held through-skin sensor until the sensor determines that theunderlying target or hole is aligned with a drill aperture. Then, asecond worker (or in some cases, the same worker accomplishes a newtask) may place a drill bit on the identified target or hole location todrill a hole through the skin at the identified location. This isinefficient as one or two workers are needed to manipulate two differentdevices and the process is tedious as the first worker needs to manuallymaneuver the aperture of the through-skin sensor until aligned and thenhold in place while the second worker completes a drilling procedure (orfirst worker who holds the sensor in place while drilling). Thistedious, work-intensive, inefficient process is in need of a novel andmodern overhaul.

BRIEF DESCRIPTION OF THE DRAWINGS

Aspects and many of the attendant advantages of the claims will becomemore readily appreciated as the same become better understood byreference to the following detailed description, when taken inconjunction with the accompanying drawings, wherein:

FIG. 1 shows an isometric view of a hand-held through-skin sensor havingautomated aperture-locating mechanism according to an embodiment of thesubject matter disclosed herein;

FIG. 2A-D show different configurations of a sensor array that may bedisposed in the hand-held through-skin sensor of FIG. 1 according toembodiments of the subject matter disclosed herein;

FIG. 3 shows a rear view of the HHTS sensor 100 of FIG. 1 showing asurface engagement mechanism according to an embodiment of the subjectmatter disclosed herein;

FIG. 4 shows the hand-held through-skin sensor of FIG. 1 in conjunctionwith a drilling system engaged with a surface according to an embodimentof the subject matter disclosed herein;

FIG. 5 shows a block diagram of an overall control system set in amanufacturing environment that includes hand-held through-skin sensor ofFIG. 1 according to an embodiment of the subject matter disclosedherein; and

FIG. 6 shows a flow diagram of a method for using the hand-heldthrough-skin sensor in a manufacturing environment of FIG. 1 accordingto an embodiment of the subject matter disclosed herein.

DETAILED DESCRIPTION

The following discussion is presented to enable a person skilled in theart to make and use the subject matter disclosed herein. The generalprinciples described herein may be applied to embodiments andapplications other than those detailed above without departing from thespirit and scope of the present detailed description. The presentdisclosure is not intended to be limited to the embodiments shown, butis to be accorded the widest scope consistent with the principles andfeatures disclosed or suggested herein.

The subject matter disclosed herein is directed to a system (and methodfor use thereof) of a hand-held through-skin (HHTS) sensor (or automatedmachine-mounted in some embodiments) that can determine the location ofan underlying aperture in a support structure suited to mount a skin orsurface. In an embodiment, the HHTS sensor includes a sensor disposed ina housing and configured to determine a location of an aperture disposedin an adjacent surface through electromagnetic, x-ray, ultrasonic orother means. The HHTS sensor further includes an alignment assemblyhaving an alignment orifice disposed in the housing and configured to bemaneuvered in an x-y plane within the housing. The alignment assemblyincludes a first actuator configured to move the alignment orifice inthe x-direction in the x-y plane and a second actuator configured tomove the alignment orifice in the y-direction in the x-y plane. Tocontrol the automated aspects of aperture detection and co-location, theHHTS sensor also includes a processor coupled to the sensor andconfigured to receive a signal from the sensor indicating the locationof the aperture and configured to control the first and second actuatorsto maneuver the alignment orifice within the x-y plane to be co-axiallylocated with the aperture in response to the sensor signal.

Further, the HHTS sensor may be a self-contained unit in that the sensorincludes a battery and a vacuum pump system that are disposed within thehousing. The vacuum pump system may be mechanically coupled to one ormore suction cups disposed on the housing such that the HHTS sensor maybe secured to a surface where an underlying aperture is to be detected.The HHTS sensor may further include handles for easy maneuvering by ahuman user and may further include mounting interfaces for mounting theHHTS sensor as an end effector onto a modular robotic system undercontrol of a master control system.

As foreshadowed in the background, a robotic manufacturing systems mayinclude carriages, assemblies, and actuators to which are attachedend-effectors and other tooling. Under a master control system or mastercontrol operator, the robot arm may move an end effector *such as theHHTS sensor) into position where the end effector performs its intendedmanufacturing task. For example, to fasten a surface to an underlyingsupport structure having apertures, a human operator or a master controlsystem may utilize the HHTS sensor to detect and accurately locateunderlying apertures in as support structure despite being unable to beseen from the one side of the surface. Once located and an alignmentorifice is maneuvered to be co-axially located with the underlyingdetected aperture, Then, a different end-effector (or hand-held device)drills one or more holes through the surface, while still a thirdend-effector inserts fasteners (e.g., rivets) into the holes, andinstalls the fasteners, thereby securing the surface to the supportstructure.

Various embodiments of the inventive self-contained HHTS sensor are wellsuited for modular manufacturing environments where an operator mayquickly and easily place the HHTS sensor on a surface that it is need ofdrilled through-holes in precise locations. Further, the modular natureof the HHTS sensor is also well suited to be part of an overallautomated system under the control of a master control system. Further,the modularity and efficiency of the various portions of the overallmanufacturing system is increased thereby reducing downtime and repaircosts. These and other aspects of the subject matter disclosed hereinare better understood with respect to the descriptions of FIGS. 1-6below.

FIG. 1 shows an isometric view of a hand-held through-skin sensor 100(HHTS sensor, hereinafter) having automated aperture-locating mechanism121 according to an embodiment of the subject matter disclosed herein.The HHTS 100 may be used in a typical manufacturing environment wherethere is a need to determine the location of an aperture (e.g., a boltor rivet hole/receptacle) that is located below a skin or surface (e.g.,an airplane body panel or car body panel). As such, as the aperture tobe located cannot be seen from above the surface, a need to locate theaperture from the top-side of the surface exists so as to be able todrill a hole or punch a fastener through the surface at the exactlocation of the underlying aperture designated to secure the fastenerbelow the surface. In this manner, the fastener (and several othersimilarly situated fasteners) may hold the surface to an underlying bodysupport structure. Thus, it becomes important to quickly and accuratelylocate the underlying aperture to keep a manufacturing process movingforward quickly and with precision.

The HHTS sensor 100 includes a housing 110 for containing and mountingall component so the HHTS sensor 100. The housing may include a lowerportion 111 that contains a cavity for mounting the automatedaperture-locating mechanism 121. The various components of the automatedaperture-locating mechanism 121 are described below with respect to FIG.5, but for now, the portion includes an alignment orifice 122 (sometimescalled a bushing or drill-bit bushing) mounted to an alignment assembly(not shown as it is disposed inside the lower portion 111 of the housing110) suited to move the alignment orifice 122 in an x-y plane 123 ascontrolled by a processor (not shown in FIG. 1). The alignment assemblyincludes a first actuator configured to move the alignment orifice 122in the x-direction in the x-y plane 123 and a second actuator configuredto move the alignment orifice in the y-direction in the x-y plane 123.The alignment orifice 122 may be flanked by a sensor array 120 that isdisposed within the housing and on the movable assembly co-located withthe alignment orifice 122. That is, the sensor may move on the assemblyin concert with the alignment orifice. As will be described in greaterdetail below with respect to FIG. 2-5, the sensor array 120 may beconfigured to detect the underlying aperture so as to provide a feedbacksignal to the processor which can manipulate the alignment assembly tomove the alignment orifice 122 to the location of the underlyingaperture within the housing 110. That is, the housing 110 will remainstationary with respect to the surface and the alignment orifice 122will be moved to the aperture.

When an operator first approaches a situation for using the HHTS sensor100, the operator may grasp the HHTS sensor 100 using a left-side handle111 and a right-side handle 112 that are disposed on the housing 110 atrespective right and left sides of the housing 110. These handles 111and 112 include respective actuation buttons 125 and 126, a firstactuation button 125 located on a top portion of the left-side handle111 and a second actuation button 126 located on a top side of theright-side handle 112. These actuation buttons 125 and 126 enable theoperator to initiate two different automated procedures for locating theunderlying aperture when the HHTS sensor 100 is near an underlyingaperture (described next).

As an operator approaches a manufacturing situation where an underlyingaperture is to be located, the operator may place the HHTS sensor 100relatively close to where the operator believes the underlying apertureto be. That is, the operator will “guess” where the underlying apertureis and move the HHTS sensor 100 (by moving with the handles 111 and 112)to be near the surface. When placed near the underlying aperture, thesensor array 120 will detect the aperture and send a sensor signal to aprocessor in the HHTS sensor 100. The processor will, in turn, interpretthe sensor signal to determine where the detected aperture is inrelation to the alignment orifice (e.g., vector and distance). Thisrelative distance may be shown in a graphical format using the display116. That is, the display may show the alignment orifice 122 at thecenter of the display 116 while the detected aperture location is shownsomewhere within the x-y plan 123 of the display 116 as well. If thedetected aperture position is, in fact, within the x-y plane 123 of thedisplay, then the operator can know that this is “close enough” for theHHTS sensor to automatically co-locate the alignment orifice with thedetected aperture. Thus, the operator may actuate the first actuationbutton 125 on the HHTS sensor 100 to engage a lock-in-place procedurewhereby a vacuum suction sub-system (not shown in FIG. 1) secures theHHTS sensor 100 to the surface. In this manner, the HHTS sensor 100 issecured to the surface near the aperture so the operator may engage asecond procedure to automatically move the alignment orifice 122 to beco-axially located with the detected aperture as described next.

Once secured in place by the vacuum suction sub-system, an operator mayactuate the second actuation button 126 whereby the processor determineshow far the alignment orifice 122 needs to move in the x direction andthe y direction in the x-y plane 123 and then generates control signalsto maneuver the movable assembly in the x-direction and the y-directionto co-axially locate the alignment orifice 122 with the underlyingdetected aperture. Thus, the processor may control an x-directionactuator (not shown in FIG. 1) to maneuver the alignment orifice 122 inthe x-direction within the x-y plane. Similarly, the processor maycontrol a y-direction actuator (not shown in FIG. 1) to maneuver thealignment orifice 122 in the y-direction within the x-y plane 123. Themaneuverings within the x-y plane 123 are intended to co-locate thecenter point of the alignment orifice with the center point of thelocated underlying aperture. In this manner, a through-hole may bedrilled in the surface (e.g., through the skin) so that a fastener(e.g., bolt or rivet or the like) may be used to secure the surface toan underlying support structure. These procedures are discussed furtherbelow with respect to FIGS. 3-5. Prior to this discussion, the natureand patterns of various embodiments of the sensor array 120 arediscussed with respect to FIGS. 2A-2D.

FIG. 2A-D show different configurations of a sensor array 120 that maybe disposed in the hand-held through-skin sensor of FIG. 1 according toembodiments of the subject matter disclosed herein. In short, the sensorarray 120 may include a number of different patterns of sensors and/orconfigurations of sensor configured to generate signals to the processorfacilitate the zeroing in on an underlying aperture at or near thesecured HHTS sensor 100. The sensor array 120 may be comprised ofelectromagnetic sensors, x-ray sensors or ultra-sonic sensors. While askilled artisan understands manners in which x-ray sensors orultra-sonic sensors may be implemented, the remainder of this disclosurediscusses manners in which electromagnetic sensors may be implemented.

In these embodiments, the different configurations of sensor arrays 120feature a plurality of electromagnetic sensor elements 230 arranged inspecific patterns. These elements 230 may comprise both anelectromagnetic field generating portion (e.g., a position thatgenerates a magnetic field) and an electromagnetic field sensing portion(e.g., a magnetic field sensor) (not shown individually). In otherembodiments, these elements 320 are just magnetic field sensors thatdetect an electromagnetic field generated from a remote target device.FIG. 2A shows a first sensor array configuration wherein the sensorpattern comprises a first set of eight magnetic sensor elements 230disposed on a first axis and a second set of eight magnetic sensorelements 230 disposed on a second axis perpendicular to the first axis.In this configuration, a first set of four sensor elements within thefirst set of eight sensor elements aligned in the first axis may bedisposed on one side of the alignment orifice 120 while the other set offour elements in the first set of eight sensor elements aligned in thefirst axis may be disposed on an opposite side of the alignment orifice120 (still aligned within the first axis). Likewise, a first set of foursensor elements within the second set of eight sensor elements alignedin the second axis may be disposed on one side of the alignment orifice120 while the other set of four elements in the second set of eightsensor elements aligned in the second axis may be disposed on anopposite side of the alignment orifice 120 (still aligned within thesecond axis). The configurations of electromagnetic sensor elements 230in FIG. 2A may be part of a detection algorithm suited to determine thelocation of the underlying aperture. Sensor readings are obtained eitherusing the absolute magnitude of the sensor's readings from all axes, orby using just the Z reading of the sensor. Using just the Z axisreadings reduces the range of the sensor but has less sensitivity toerrors introduced by magnet tilt. The rest of the algorithm is unchangedby this choice.V=√{square root over (V _(x) ² +V _(y) ² +V _(z) ²)}ORV=V _(z)

The detection algorithm is embodied in aproportional-integral-derivative (PID) controller suited to generate oneor more move vectors. In various embodiments, differential measurements(e.g., the differences between the detected aperture position and theorifice position) are calculated by subtracting the magnetic fieldreading on a given sensor from the reading of the sensor on the oppositeside of the unit. Each of these pairs of sensors may be sampled initerations to generate move vectors over time. The move vectors areseparated into X and Y vector components based on the geometry of thesensor pair with respect to the alignment orifice and the X-Y coordinateplane (123 of FIG. 1). For example, a sensor pair at 30 degrees to thehorizontal of the x-axis contributes sin(30°)*(Move vector) to X andcos(30°)*(Move vector) to X. Move vectors for X and Y from each sensorare summed to produce a “net move vector” for X (V_(X)) and a “net movevector” for Y (V_(Y)), as below:

$V_{X} = {{\sum\limits_{i = 1}^{n/2}{V_{i} \times \cos\;\left( \theta_{i} \right)}} - {\sum\limits_{j = {{n/2} + 1}}^{n}{V_{j} \times {\cos\left( \theta_{j} \right)}}}}$$V_{Y} = {{\sum\limits_{i = 1}^{n/2}{V_{i} \times \sin\;\left( \theta_{i} \right)}} - {\sum\limits_{j = {{n/2} + 1}}^{n}{V_{j} \times {\sin\left( \theta_{j} \right)}}}}$If a sensor pair is overflowed (e.g., the move vector will not resolve),that specific sensor pair is temporarily excluded from the calculationfor one or more iterations, and the previous readings from that sensorpair are used until the overflow ends. The net move vector is thenscaled by the largest sensor pair reading seen during this referencingrun (V_(max)), to allow the system to operate independent of targetdepth. The result is a unit-move vector in each of X and Y.

$= \frac{V_{X}}{V_{\max}}$ $= \frac{V_{Y}}{V_{\max}}$The unit-move vector is used to set a position target for the PIDcontroller for the actuator responsible for movement in the respectiveaxis. PID feedback is provided by linear potentiometers associated witheach axis actuator. Axis movement actuation may be stopped once the unitmove vector for the respective axis falls below a configurable value,allowing a mutually beneficial tradeoff between accuracy and searchspeed.

Additional algorithm influences and safeguards may be present. In afirst influence, a minimum sensor reading may be used to determine if atarget magnet is present. If there is no appreciable detection of anyelectromagnetic field, the HHTS sensor may return an error to theoperator (e.g., return an error message on its display or generatesignal to remote operation base). In a second influence, a sensoroverflow restriction parameter may ensure that no sensor pair is stillsaturated (e.g., still in an overflow state) when the search hascompleted before transitioning to iterative move vector generations. Ifthe HHTS sensor determines that one or more sensor pairs are still inoverflow states, an error will be given to the operator. In a thirdinfluence, a minimum successful read count parameter may be used toensure the system does not succeed on the basis of only a single successreading that could be affected by environmental noise. That is, at leasta second pair of sensors is needed to return meaningful feedback for thealgorithm to proceed.

In another embodiment, the HHTS sensor also incorporates a zeroingfeature to improve accuracy by controlling for the presence of earth'smagnetic field and other magnetic sources near the system. To make useof this, the HHTS sensor may be “homed” prior to the installation of thetarget magnet. Readings for each sensor are collected over a 1 secondperiod and averaged, and these readings are subsequently subtracted fromthe sensor when performing a search. This feature may improve accuracyby over 0.25 mm. Another safeguard for this system is a maximum readingand maximum standard deviation of the average reading for each sensorthat can be detected during the homing step. If either the maximumreading or the standard deviation exceeds a configurable value, thehoming step will fail on the basis that there are excessively large orfluctuating magnetic fields present. Each of the above-describedaspects, features, safeguards and/or influences may be implemented withrespect to each of the following sensor configurations as well.

FIG. 2B shows a second sensor array 120 configuration wherein the sensorpattern comprises a first set of six magnetic sensor elements 230disposed on a first axis and a second set of six magnetic sensorelements 230 disposed on a second axis perpendicular to the first axis.In this configuration, a first set of three sensor elements within thefirst set of six sensor elements aligned in the first axis may bedisposed on one side of the alignment orifice 122 while the other set ofthree elements in the first set of six sensor elements aligned in thefirst axis may be disposed on an opposite side of the alignment orifice122 (still aligned within the first axis). Likewise, a first set ofthree sensor elements within the second set of six sensor elementsaligned in the second axis may be disposed on one side of the alignmentorifice 122 while the other set of three elements in the second set ofsix sensor elements aligned in the second axis may be disposed on anopposite side of the alignment orifice 122 (still aligned within thesecond axis). Further, an additional four sensor elements are disposedat corners of a three by three square formed with the first sensorelement of each of the sets of three described above.

FIG. 2C shows a third sensor array 120 configuration wherein the patterncomprises a first set of four magnetic sensor elements disposed on afirst axis, a second set of four magnetic sensor elements disposed on asecond axis perpendicular to the first axis, a third set of fourmagnetic sensor elements disposed on a third axis that is offset fromthe each of the first and second axes by 45 degrees, and a fourth set offour magnetic sensor elements disposed on a fourth axis perpendicular tothe third axis.

FIG. 2D shows a fourth sensor array 120 configuration wherein thepattern comprises a set of 16 magnetic sensor elements 230 disposed in acircular pattern, each magnetic sensor array 120 disposed equidistantfrom the alignment orifice 122. Other array configurations and patternsare contemplated and/or possible but not discussed herein for brevity.

FIG. 3 shows a rear view of the HHTS sensor 100 of FIG. 1 showing asurface engagement mechanism according to an embodiment of the subjectmatter disclosed herein. The surface engagement mechanism includesseveral components such as surface suction cups 345 a and 345 b that arecoupled to a vacuum pump (not shown) powered by an on-board battery (notshown). The vacuum pump and battery may be disposed below a rear-accesscover plate 348. The mechanism further includes surface alignment posts340 a-c for ensuring that the alignment orifice is aligned normal to thesurface being engaged.

When an operator first approaches a surface wherein an underlyingaperture is to be located, the operator may place the rear side of theHHTS sensor 100 facing the surface in a location reasonably thought tobe close to the aperture. The sensor system will attempt to locate theaperture and display a representation of it on the display screen on thefront side of the HHTS sensor 100. If the aperture can be seen in thedisplay, the operator may actuate the first actuation input/button 125to secure the HHTS sensor 100 to the surface using the surfaceengagement mechanism. Thus, the vacuum pump will initiate pumping arefrom cavities formed by the surface suction cups 345 a and 345 b and theengaged surface. When a threshold pressure is reached or when thealignment points are all sufficiently engaged with the surface, thevacuum pump is turned off and the HHTS sensor 100 may be ready to engagethe automated aperture location procedure by actuating the secondactuation input/button 126.

FIG. 4 shows the HHTS sensor 100 of FIG. 1 in conjunction with adrilling system 465 engaged with a surface 450 according to anembodiment of the subject matter disclosed herein. In this view, one cansee the HHTS sensor 100 placed near a surface that may be in need of athrough hole (e.g., by way of drilling using a drill 470) concentricallyplaced with and undying aperture 455 that is disposed on a supportstructure 451. In this embodiment, the HHTS sensor 100 may be anelectromagnetic sensing device such that a magnetic target 456 may beplaced in the aperture to provide an object in which the HHTS sensor 100can detect. Thus, an operator may physically place the HHTS sensor 100near the surface in a place reasonably close to the underlying aperture455 and then initiate the automated procedure for maneuvering thealignment orifice 122 to be concentrically aligned with the detectedmagnetic target 456 that is placed in the aperture 455.

Once the aperture 455 has been located and the alignment orifice 122 isconcentrically aligned with the detected aperture 455, an additionalmanufacturing task, such as drilling a through hole in the surface 450,may be accomplished. Thus, an operator may utilize a separate manualhand-drill 471 or an automated end-effector drill 470 to bore a holethrough the surface by maneuvering the drill bit through the alignmentorifice 122 (e.g., through the drill-bit bushing). Once drilled, theoperator may remove the HHTS sensor 100 and install some manner of afastener, e.g., a rivet or a bolt (not shown), to secure the surface 450to the support structure 451 though the newly bored through-hole and theaperture 455.

In other embodiments, the HHTS sensor 100 and the drill 470 may be partof an overall automated manufacturing system 465 whereby these“end-effectors” are mounted on a carriage 471 that may be movablyattached to a rail system 472. In this manner, the operator may controlall components through a remote-control system (not shown) or theoverall process may be automated such that operator control is notneeded once the process has been imitated. That is, the automatedmanufacturing system 465 may engage an automated procedure to locate allunderlying apertures 455 in a support structure 451, subsequently drillthrough-holes in the surface 450 at each aperture location and installfasteners at each drilled location. Aspects of such an automated systemare described in greater detail in U.S. patent application Ser. No.14/876,415 co-owned by the assignee of the present application andhereby, incorporated by reference.

FIG. 5 shows a block diagram of an overall manufacturing system 500 thatmay be set in a manufacturing environment that includes HHTS sensor 100of FIG. 1 according to an embodiment of the subject matter disclosedherein. The manufacturing system 500 shown in FIG. 5 shows one specificconfiguration of an overall automated system whereby the HHTS sensor 100is part of an automated system in which an operator may not utilize theHHTS sensor 100 in the manner described in previous stand-alonescenarios. Rather, the system 500 described in FIG. 5 is an integratedautomated system 500 under the control and direction of a master controlsystem 559. As such, an operator may simply control all manufacturingtasks through the master control system 559.

In this block diagram, the HHTS sensor 100 includes a local controller501 (e.g., a local processor) for controlling actions and functions ofthe HHTS sensor 100 and, at times, the carriage 471. The localcontroller 501 includes a processor 507 configured to executeinstructions that may be stored in a local memory 508. The memory 508 iscoupled to the processor 507 via a communication and data bus 502. Thebus 502 is also coupled to one or more interfaces 505 and 506 for one ormore actuators, such as respective x-actuator 515 and y-actuator 516.Thus, as the sensor array 120 detects and underlying aperture, signalsform the sensor array may be sent to the processor 507 through the bus502 and then interpreted to produce actuation signals to the interfaces505 and 506 for inducing movement in the respective x and y directionsto zero in on the underlying aperture. The controller 501 also includesa display adapter 511 coupled to the bus 502 and coupled to the display116. In other embodiments, additional interfaces (not shown) may bepresent for coupling additional modular devices or other devices (notshown).

The controller 501 may also be coupled to a pneumatic pump system 519(e.g., a vacuum pump) via the bus 502 such that the processor maycontrol the pneumatic pump system 519 in an automated manner. Further,the controller 501 is coupled to an on-board rechargeable battery 520(e.g., a power source) to provide power to this and other components.The battery 520 is also coupled to the pneumatic pump system 519 thex-actuator 515 and the y-actuator 516.

The local controller 501 also includes an input/output interface 510suitable for handling communication signals to and from other relatedmanufacturing devices and controllers in the system 500. In thisembodiment, the I/O interface 510 is communicatively coupled to acommunication interface 520 housed within the carriage sub-system 471.In other embodiments, the communication interface 520 may be in directcommunication with the master control system 559. The communicationprotocol for these devices may be standard Ethernet using TCP/IPprotocol. Other embodiments may be a proprietary communication protocol,such as a proprietary “Smart Tool Protocol” (STP), using TCP/IP Ethernetor other standard serial or parallel interfaces (e.g., RS-232 or thelike).

The communication interface 520 associated with the carriage 471 may becoupled to one or more robotic rail actuators 530 configured to move thecarriage 471 in one or more direction or orientations (such as along arail 472). The master control system 559, in turn, may include a mastercontroller 560 that includes an I/O interface 561, a processor 562 and amemory 563 for accomplishing master control tasks and functions.

FIG. 6 shows a flow diagram of a method for using the HHTS sensor 100 ina manufacturing environment of FIG. 1 according to an embodiment of thesubject matter disclosed herein. The method described with respect tothe flow diagram of FIG. 6 is for a manufacturing function for locatingan underlying aperture disposed below a skin or surface and thendrilling a hole through a concentrically aligned orifice. The order andnumber of steps, and the steps themselves, may be different in otherembodiments.

The method begins at step 600 and proceeds to a first step 601 whereinthe master control system or an operator maneuver the HHTS sensor (100of FIG. 1) to be adjacent to an underlying aperture in a supportstructure disposed below a skin or surface. During this time, one ormore sensor array algorithms (as discussed above with respect to FIG. 2)may be continuously iterating to detect underlying apertures and/ortargets disposed in apertures. If the master control system or operatorcan determine that the HHTS sensor 100 is close enough to display theaperture in the display somewhere, then the method may move to step 603whereby the vacuum pump system is initiated (or in the case of a modularmanufacturing environment as derived in FIG. 4, the robotic arm actuatormay be locked into place). The vacuum pump forces air out of cavitiesformed by suction cups on the rear side of the HHTS sensor 100 and thesurface. This step may be initiated by an operator actuating apushbutton input disposed on the HHTS sensor 100 or may be initiated bya master control system once the display shows the detection of theaperture.

Once locked into place, the operator or the master control system mayinitiate an aperture location procedure at step 605. If this step is amanual step, the procedure may be initiated by the operator actuating asecond actuation input button disposed on the HHTS sensor 100. If thisstep is an automated system step, the procedure may be initiated by themaster control system after a requisite period of time whereby the HHTSsensor 100 is secured in place.

The automated location procedure includes two simultaneous operationbranches, one for zeroing in on the x-location of the detected aperturewith iterative steps 610 and 612 and one for zeroing in on they-location of the aperture with iterative steps 620 and 622. Looking atthe x-location branch, a vector and distance may be determined at thequery step 610 in the x-direction. That is, the distance and direction(vector) of the alignment orifice away from the detected aperture may bedetermined in the x-direction only. If not aligned, the branch moves tostep 612 where the x-actuator is activated to move the alignment orificetoward the detected aperture within the x-axis. This process will repeatuntil the alignment orifice and the detected aperture is aligned in thex-axis.

Turning to the y-location branch, a vector and distance may besimultaneously determined at the query step 620 in the y-direction. Thatis, the distance and direction (vector) of the alignment orifice awayfrom the detected aperture may be determined in the y-direction only. Ifnot aligned, the branch moves to step 622 where the y-actuator isactivated to move the alignment orifice toward the detected aperturewithin the y-axis. This process will repeat until the alignment orificeand the detected aperture is aligned in the y-axis.

If both x and y directions are aligned (e.g., the alignment orifice andthe detected aperture are concentrically aligned) then the HHTS sensorlocks the alignment orifice into place, at step 630. As the alignmentorifice is now concentrically aligned with the underlying aperture, theoverall procedure is ready for drilling a hole through the surface usinga drill. This may be accomplished manually by an operator or in anautomated manner under the control of a master control system. Thus, atstep 635, once concentrically aligned, an operator may engage a drillingprocedure in a manual manner (e.g., place a drill bit in the alignmentorifice and drill a hole. In the case of an automated environment, themaster control system may then maneuver a drill into place and begin anautomated drilling procedure. Although not shown as a step, andadditional procedure for installing a rivet or bolt to secure thesurface to the support structure may be accomplished either manually orautomatically. The overall method may end at step 640.

Additional optional or alternative steps in this method include storingresults of accomplishing the manufacturing functions in a local memorydisposed in the one or more of the self-contained modular manufacturingdevices. Another optional step may be loading parameters foraccomplishing the manufacturing functions from a local memory disposedin one or more of the self-contained modular manufacturing devices priorto accomplishing any manufacturing function. Yet another option is tohave third and fourth functions locally control after a controlhandshake.

Additional steps may be added in other embodiments, such as additionalcontrol handshakes with nested controllers as well as multiple functionsat the same position, such as locating, drilling, measuring andinstalling a fastener with respect to a hole. Further, the steps of thismethod need not be performed in exactly the order depicted in FIG. 6 andsome steps may be omitted. The above example is just one illustrativeexample out of many illustrative examples.

While the subject matter discussed herein is susceptible to variousmodifications and alternative constructions, certain illustratedembodiments thereof are shown in the drawings and have been describedabove in detail. It should be understood, however, that there is nointention to limit the claims to the specific forms disclosed, but onthe contrary, the intention is to cover all modifications, alternativeconstructions, and equivalents falling within the spirit and scope ofthe claims.

What is claimed is:
 1. A self-contained device, comprising: a sensordisposed in a housing and configured to determine a location of anaperture disposed adjacent to a surface; an alignment assembly disposedin the housing and having an alignment orifice, the alignment assemblyconfigured to maneuver the alignment orifice in an x-y plane within thehousing, the alignment assembly including a first electro-mechanicalactuator configured to move the alignment orifice in the x-direction inthe x-y plane and a second electro-mechanical actuator configured tomove the alignment orifice in the y-direction in the x-y plane; aprocessor coupled to the sensor and coupled to the alignment assembly,the processor configured to receive a signal from the sensor indicatingthe location of the aperture and configured to control the first andsecond actuators to maneuver the alignment orifice within the x-y planeto be co-axially located with the aperture in response to the sensorsignal; a pneumatic pump disposed in the housing and configured tomechanically engage one or more pneumatic suction mechanisms disposed onthe housing and configured to secure the housing to the surface; and apower source disposed in the housing and configured to provide electricpower to the sensor, the alignment assembly, the processor, and thepneumatic pump.
 2. The self-contained device of claim 1, wherein thepower source comprises a rechargeable battery.
 3. The self-containeddevice of claim 1, wherein the pneumatic pump further comprises a vacuumpump and the at least one suction mechanism comprises two suction cupsmechanically coupled to the vacuum pump.
 4. The self-contained device ofclaim 1, wherein the sensor further comprises a plurality of magneticsensor elements positioned in a pattern with respect to each, eachmagnetic sensor element configured to detect one or more electromagneticfields.
 5. The self-contained device of claim 4, wherein the patterncomprises a first set of eight magnetic sensor elements disposed on afirst axis and a second set of eight magnetic sensor elements disposedon a second axis perpendicular to the first axis.
 6. The self-containeddevice of claim 1, wherein the sensor further comprises an x-raydetection sensor configured to generate an x-ray signal suited to detectthe location of the aperture.
 7. The self-contained device of claim 1,wherein the sensor further comprises an ultrasonic detection sensorconfigured to generate an ultrasonic signal suited to detect thelocation of the aperture.
 8. The self-contained device of claim 1,further comprising a tactile actuation input configured to initiatedetermining the location of the aperture disposed in the adjacentsurface.
 9. The self-contained device of claim 1, further comprising ahandle coupled to the housing configured for gripping by a human hand.10. A manufacturing system, comprising: a carriage configured to supportattached manufacturing components; an aperture detection device coupledto the carriage and including a sensor disposed in a housing andconfigured to determine a location of an aperture disposed adjacent to asurface; an alignment assembly disposed in the housing and having analignment orifice, the alignment assembly configured to maneuver thealignment orifice in an x-y plane within the housing, the alignmentassembly including a first electro-mechanical actuator configured tomove the alignment orifice in the x-direction in the x-y plane and asecond electro-mechanical actuator configured to move the alignmentorifice in the y-direction in the x-y plane; a processor coupled to thesensor and coupled to the alignment assembly, the processor configuredto receive a signal from the sensor indicating the location of theaperture and configured to control the first and second actuators tomaneuver the alignment orifice within the x-y plane to be co-axiallylocated with the aperture in response to the sensor signal; a pneumaticpump disposed in the housing and configured to mechanically engage oneor more pneumatic suction mechanisms disposed on the housing andconfigured to secure the housing to the surface; and a power sourcedisposed in the house and configured to provide electric power to thesensor, the alignment assembly, the processor, and the pneumatic pump; atarget configured to be placed in the aperture and detected by thesensor; and an end effector coupled to the carriage and configured toperform a manufacturing task with respect to the aperture.
 11. Themanufacturing system of claim 10, further comprising a remote-controlsystem communicatively coupled to the processor and configured tocontrol the carriage, the aperture detection device and the end-effectorremotely.
 12. The manufacturing system of claim 10, wherein the endeffector further comprises a drill configured to drill a hole concentricwith the alignment orifice and the aperture.
 13. The manufacturingsystem of claim 10, wherein the end effector further comprises a riveterconfigured to install a rivet concentric with the alignment orifice andthe aperture.
 14. The manufacturing system of claim 10, furthercomprising a lateral rail coupled to the carriage and configured tofacilitate lateral movement of the carriage.
 15. The manufacturingsystem of claim 14, wherein the pattern comprises a set of 16 magneticsensor elements disposed in a circular pattern, each magnetic sensorelement disposed equidistant from the alignment orifice.
 16. Themanufacturing system of claim 10, wherein the sensor further comprises aplurality of magnetic sensor elements positioned in a pattern withrespect to each, each magnetic sensor element configured to detect oneor more electromagnetic fields.
 17. The manufacturing system of claim16, wherein the pattern comprises a first set of eight magnetic sensorelements disposed on a first axis and a second set of eight magneticsensor elements disposed on a second axis perpendicular to the firstaxis.